There are a few coorbitals of Earth known nowadays . Most famous are Cruithne and 2002AA29 . Hereunder is an animation in perspective view of 4 of them :

Red : Cruithne Green : 2002AA29 Magenta : 2004GU9 Yellow : 2010 SO16

The animation covers ca. 270 years . The viewpoint is special : we look to the Earth-Moon system from a distance of 2 AU , corotating with Earth . So Earth and Sun are in one line and the observer is located at 3AU from the sun .

Advantage of this viewpoint is that we can see drift away 2002AA29 fi from Earth to the right , going behnd the sun , approaching Earth again from the left and then receeding again to the left , in a shape which resembles a corkscrew orbit . As it gets further away from Earth the shape of the orbit gets smaller .

The newly discovered 2010SO16 is also in an horseshoe orbit . 2004GU9 however seems to orbit the Earth Moon system .

In 3D perspective (red-cyan) the animation above looks as hereunder . The viewangle again is 90° . The animaton covers 200 years . Here it it very clear that 2004GU9 seems to be in orbit around the Arth-Moon system , whereas the others pass behind the sun in their hosrseshoe orbit .